Source_File
Dependencies: mbed X_NUCLEO_IHM02A1
Diff: main.cpp
- Revision:
- 9:f35fbeedb8f4
- Parent:
- 5:3b8e19bbf386
- Child:
- 11:79fcaf38c09d
--- a/main.cpp Thu Dec 10 15:43:00 2015 +0000 +++ b/main.cpp Fri Dec 11 17:24:01 2015 +0000 @@ -69,6 +69,66 @@ /* Motor Control Expansion Board. */ X_NUCLEO_IHM02A1 *x_nucleo_ihm02a1; +/* Initialization parameters of the motors connected to the expansion board. */ +MICROSTEPPING_MOTOR_InitTypeDef init[L6470DAISYCHAINSIZE] = +{ + /* First Motor. */ + { + 9.0, /* Motor supply voltage in V. */ + 200, /* Min number of steps per revolution for the motor. */ + 1.7, /* Max motor phase voltage in A. */ + 3.06, /* Max motor phase voltage in V. */ + 300.0, /* Motor initial speed [step/s]. */ + 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ + 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ + 992.0, /* Motor maximum speed [step/s]. */ + 0.0, /* Motor minimum speed [step/s]. */ + 602.7, /* Motor full-step speed threshold [step/s]. */ + 3.06, /* Holding kval [V]. */ + 3.06, /* Constant speed kval [V]. */ + 3.06, /* Acceleration starting kval [V]. */ + 3.06, /* Deceleration starting kval [V]. */ + 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ + 392.1569e-6, /* Start slope [s/step]. */ + 643.1372e-6, /* Acceleration final slope [s/step]. */ + 643.1372e-6, /* Deceleration final slope [s/step]. */ + 0, /* Thermal compensation factor (range [0, 15]). */ + 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ + 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ + MICROSTEP_1_128, /* Step mode selection. */ + 0xFF, /* Alarm conditions enable. */ + 0x2E88 /* Ic configuration. */ + }, + + /* Second Motor. */ + { + 9.0, /* Motor supply voltage in V. */ + 200, /* Min number of steps per revolution for the motor. */ + 1.7, /* Max motor phase voltage in A. */ + 3.06, /* Max motor phase voltage in V. */ + 300.0, /* Motor initial speed [step/s]. */ + 500.0, /* Motor acceleration [step/s^2] (comment for infinite acceleration mode). */ + 500.0, /* Motor deceleration [step/s^2] (comment for infinite deceleration mode). */ + 992.0, /* Motor maximum speed [step/s]. */ + 0.0, /* Motor minimum speed [step/s]. */ + 602.7, /* Motor full-step speed threshold [step/s]. */ + 3.06, /* Holding kval [V]. */ + 3.06, /* Constant speed kval [V]. */ + 3.06, /* Acceleration starting kval [V]. */ + 3.06, /* Deceleration starting kval [V]. */ + 61.52, /* Intersect speed for bemf compensation curve slope changing [step/s]. */ + 392.1569e-6, /* Start slope [s/step]. */ + 643.1372e-6, /* Acceleration final slope [s/step]. */ + 643.1372e-6, /* Deceleration final slope [s/step]. */ + 0, /* Thermal compensation factor (range [0, 15]). */ + 3.06 * 1000 * 1.10, /* Ocd threshold [ma] (range [375 ma, 6000 ma]). */ + 3.06 * 1000 * 1.00, /* Stall threshold [ma] (range [31.25 ma, 4000 ma]). */ + MICROSTEP_1_128, /* Step mode selection. */ + 0xFF, /* Alarm conditions enable. */ + 0x2E88 /* Ic configuration. */ + } +}; + /* Main ----------------------------------------------------------------------*/ @@ -80,7 +140,7 @@ DevSPI dev_spi(D11, D12, D3); /* Initializing Motor Control Expansion Board. */ - x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(A4, A5, D4, A2, &dev_spi); + x_nucleo_ihm02a1 = new X_NUCLEO_IHM02A1(&init[0], &init[1], A4, A5, D4, A2, &dev_spi); /* Building a list of motor control components. */ L6470 **motors = x_nucleo_ihm02a1->GetComponents(); @@ -278,7 +338,7 @@ for (int i = 0; i < MPR_1; i++) { /* Computing the number of steps. */ - int steps = (int) (((int) X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].fullstepsperrevolution * pow(2.0f, X_NUCLEO_IHM02A1::MotorParameterInitData[0][m].step_sel)) / MPR_1); + int steps = (int) (((int) init[m].fullstepsperrevolution * pow(2.0f, init[m].step_sel)) / MPR_1); /* Moving. */ motors[m]->Move(StepperMotor::FWD, steps);